EP4092386A4 - Procédé de planification de trajet et appareil de planification de trajet - Google Patents

Procédé de planification de trajet et appareil de planification de trajet Download PDF

Info

Publication number
EP4092386A4
EP4092386A4 EP20914423.7A EP20914423A EP4092386A4 EP 4092386 A4 EP4092386 A4 EP 4092386A4 EP 20914423 A EP20914423 A EP 20914423A EP 4092386 A4 EP4092386 A4 EP 4092386A4
Authority
EP
European Patent Office
Prior art keywords
journey planning
journey
planning method
planning apparatus
planning
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP20914423.7A
Other languages
German (de)
English (en)
Other versions
EP4092386A1 (fr
EP4092386B1 (fr
Inventor
Yalin Liu
Haotian CAO
Xiaolin Song
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Yinwang Intelligenttechnologies Co Ltd
Original Assignee
Huawei Technologies Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Huawei Technologies Co Ltd filed Critical Huawei Technologies Co Ltd
Publication of EP4092386A1 publication Critical patent/EP4092386A1/fr
Publication of EP4092386A4 publication Critical patent/EP4092386A4/fr
Application granted granted Critical
Publication of EP4092386B1 publication Critical patent/EP4092386B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags or using precalculated routes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/20—Data confidence level

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)
EP20914423.7A 2020-01-17 2020-01-17 Procédé de planification de trajet et appareil de planification de trajet Active EP4092386B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2020/072834 WO2021142793A1 (fr) 2020-01-17 2020-01-17 Procédé de planification de trajet et appareil de planification de trajet

Publications (3)

Publication Number Publication Date
EP4092386A1 EP4092386A1 (fr) 2022-11-23
EP4092386A4 true EP4092386A4 (fr) 2023-02-01
EP4092386B1 EP4092386B1 (fr) 2026-04-29

Family

ID=75413916

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20914423.7A Active EP4092386B1 (fr) 2020-01-17 2020-01-17 Procédé de planification de trajet et appareil de planification de trajet

Country Status (3)

Country Link
EP (1) EP4092386B1 (fr)
CN (1) CN112673234B (fr)
WO (1) WO2021142793A1 (fr)

Families Citing this family (39)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113483776B (zh) * 2021-07-01 2024-11-26 广州小鹏自动驾驶科技有限公司 路径规划方法、装置及汽车
CN113568403A (zh) * 2021-07-02 2021-10-29 广州小鹏自动驾驶科技有限公司 处理方法、处理装置、车辆及存储介质
CN113587931B (zh) * 2021-07-08 2024-07-09 中汽创智科技有限公司 一种路径规划方法、装置、设备及存储介质
CN113479198B (zh) * 2021-08-20 2022-12-02 京东鲲鹏(江苏)科技有限公司 一种无人车控制方法和装置
CN113460091B (zh) * 2021-08-23 2022-10-21 吉林大学 一种无保护十字路口无人车滚动优化决策方法
CN113704375B (zh) * 2021-08-26 2025-11-07 上海涵润汽车电子有限公司 一种坐标转换方法及装置
CN113744566B (zh) * 2021-09-08 2023-12-05 京东鲲鹏(江苏)科技有限公司 一种预警方法和装置
CN115230731B (zh) * 2021-09-13 2025-11-25 上海仙途智能科技有限公司 行驶路径确定方法、装置、终端及介质
CN113778097B (zh) * 2021-09-15 2023-05-19 龙岩学院 L型路径趋势改进a-star算法的智能仓储物流机器人路径规划方法
CN114030652B (zh) * 2021-09-22 2023-09-12 北京电子工程总体研究所 一种避障路径规划方法和系统
CN113985872A (zh) * 2021-10-25 2022-01-28 广东嘉腾机器人自动化有限公司 基于视觉检测的agv取货路径规划方法、装置及介质
CN113721637B (zh) * 2021-11-02 2022-05-03 武汉理工大学 智能车动态避障路径连续规划方法、系统及存储介质
CN114111788A (zh) * 2021-11-09 2022-03-01 武汉乐庭软件技术有限公司 一种基于多段回旋线的轨迹规划的方法、设备及存储设备
CN113932827A (zh) * 2021-11-09 2022-01-14 启迪云控(上海)汽车科技有限公司 道路曲线的生成方法、装置、存储介质及车辆
CN113759938B (zh) * 2021-11-10 2022-03-25 北京理工大学 一种无人车路径规划质量测评方法和系统
CN114152264B (zh) * 2021-12-03 2023-12-05 京东鲲鹏(江苏)科技有限公司 无人车路径规划方法及装置、电子设备、存储介质
CN114264307B (zh) * 2021-12-15 2024-06-04 广州小鹏自动驾驶科技有限公司 路径生成方法、装置、交通工具及存储介质
CN114310941B (zh) * 2021-12-21 2023-10-20 长三角哈特机器人产业技术研究院 用于轮毂轮孔去毛刺加工的机器人路径生成方法
CN114463717B (zh) * 2021-12-30 2025-10-10 武汉中海庭数据技术有限公司 一种障碍物位置判断方法、系统、电子设备及存储介质
CN114115298B (zh) * 2022-01-25 2022-05-17 北京理工大学 一种无人车路径平滑方法及系统
CN114637284B (zh) * 2022-01-26 2025-11-18 上海仙途智能科技有限公司 掉头车道生成方法及装置、计算机可读存储介质、终端
CN114485712B (zh) * 2022-01-30 2023-07-21 重庆长安汽车股份有限公司 一种处理st图构建时障碍物多次侵入本车轨迹的方法
CN114407898B (zh) * 2022-02-22 2024-04-19 爱驰汽车（上海）有限公司 换道路径规划方法、装置、智能驾驶汽车及存储介质
CN114527758A (zh) * 2022-02-24 2022-05-24 北京百度网讯科技有限公司 路径规划方法及装置、设备、介质和产品
KR102825933B1 (ko) * 2022-03-10 2025-06-27 주식회사 에이치엘클레무브 운전자 보조 장치 및 운전자 보조 방법
CN114734996B (zh) * 2022-04-14 2025-02-18 中国第一汽车股份有限公司 一种自动驾驶决策方法、装置、车辆及存储介质
CN115171414B (zh) * 2022-06-10 2023-07-14 哈尔滨工业大学重庆研究院 一种基于Frenet坐标系的CACC跟驰车流控制系统
CN114834463B (zh) * 2022-06-28 2022-11-04 小米汽车科技有限公司 车辆控制方法、装置、存储介质、电子设备、芯片及车辆
CN115268314B (zh) * 2022-07-01 2025-10-28 上海壁仞科技股份有限公司 轨迹多项式生成装置及其轨迹序列控制器
CN114838737B (zh) * 2022-07-05 2022-10-04 泽景(西安)汽车电子有限责任公司 一种行驶路径的确定方法、装置、电子设备及存储介质
CN115046557B (zh) * 2022-08-11 2022-11-01 合肥井松智能科技股份有限公司 一种结合b样条曲线和a星算法的agv路径规划方法
CN115578880B (zh) * 2022-09-21 2025-06-03 北京踏歌智行科技有限公司 一种面向露天矿区无人化系统的云端规划策略
CN115730756B (zh) * 2022-11-30 2025-10-03 吉林大学 一种分阶段的自动驾驶车辆轨迹规划方法
CN116295393B (zh) * 2022-12-05 2026-04-28 中国矿业大学(北京) 基于rrt*-dr算法的机器人路径规划方法
CN116069031B (zh) * 2023-01-28 2023-08-11 武汉理工大学 基于车体扫掠模型的地下无人矿车路径优化方法及系统
CN116817955B (zh) * 2023-06-30 2024-04-12 北京易航远智科技有限公司 车辆路径规划方法、装置、电子设备及存储介质
CN116839612B (zh) * 2023-06-30 2026-01-06 惠州市德赛西威汽车电子股份有限公司 一种车辆路径点确定方法、装置、车辆及存储介质
CN116701821B (zh) * 2023-08-03 2024-03-19 季华实验室 机器人速度计算方法、装置、电子设备及存储介质
CN119292190B (zh) * 2024-10-10 2025-06-06 苏州天准科技股份有限公司 一种工件轨迹规划方法、装置及存储介质

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9857876B2 (en) * 2013-07-22 2018-01-02 Leap Motion, Inc. Non-linear motion capture using Frenet-Serret frames
US20150029092A1 (en) * 2013-07-23 2015-01-29 Leap Motion, Inc. Systems and methods of interpreting complex gestures
US10846942B1 (en) * 2013-08-29 2020-11-24 Ultrahaptics IP Two Limited Predictive information for free space gesture control and communication
CN109324620A (zh) * 2018-09-25 2019-02-12 北京主线科技有限公司 基于车道线平行偏移进行避障及超车的动态轨迹规划方法
CN110111566B (zh) * 2019-04-19 2021-07-06 腾讯科技（深圳）有限公司 轨迹预测方法、装置和存储介质
CN110189547B (zh) * 2019-05-30 2020-10-20 广州小鹏汽车科技有限公司 一种障碍物检测方法、装置及车辆

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
CHEN HUAKANG ET AL: "An Improved Local Dynamic Path Planning Algorithm for Autonomous Driving", 2019 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), IEEE, 6 December 2019 (2019-12-06), pages 2879 - 2884, XP033691521, DOI: 10.1109/ROBIO49542.2019.8961468 *
See also references of WO2021142793A1 *
ZHANG YAJIA ET AL: "Optimal Trajectory Generation for Autonomous Vehicles Under Centripetal Acceleration Constraints for In-lane Driving Scenarios", 2019 IEEE INTELLIGENT TRANSPORTATION SYSTEMS CONFERENCE (ITSC), IEEE, 27 October 2019 (2019-10-27), pages 3619 - 3626, XP033668283, DOI: 10.1109/ITSC.2019.8916917 *

Also Published As

Publication number Publication date
CN112673234B (zh) 2022-01-14
EP4092386A1 (fr) 2022-11-23
WO2021142793A1 (fr) 2021-07-22
EP4092386B1 (fr) 2026-04-29
CN112673234A (zh) 2021-04-16

Similar Documents

Publication Publication Date Title
EP4092386A4 (fr) Procédé de planification de trajet et appareil de planification de trajet
EP4027113A4 (fr) Procédé et appareil de planification de déplacement
EP4098976A4 (fr) Procédé et appareil de navigation
EP4376511A4 (fr) Procédé et appareil de positionnement
EP4072204A4 (fr) Procédé et appareil de radiomessagerie
EP4276412A4 (fr) Procédé de positionnement et appareil associé
EP4120076A4 (fr) Procédé et appareil de planification de tâches
EP3761172A4 (fr) Procédé et système de planification de tâche d'apprentissage profond et appareil associé
EP4016457A4 (fr) Procédé et appareil de positionnement
EP4322056A4 (fr) Procédé et appareil de formation de modèle
EP4033825A4 (fr) Appareil et procédé de radiomessagerie
EP4236432A4 (fr) Procédé et appareil de configuration de modèle
EP4394595A4 (fr) Procédé et appareil de résolution de tâche
EP3991424A4 (fr) Procédé et appareil de vidéocodage
EP4224900A4 (fr) Procédé et appareil de routage
EP4115615A4 (fr) Procédé et appareil de vidéocodage
EP4024975A4 (fr) Appareil et procédé de radiomessagerie
EP4070237A4 (fr) Procédé et appareil de vidéocodage
EP4156105A4 (fr) Procédé et appareil de positionnement spatial
EP4095488A4 (fr) Procédé et appareil de positionnement
EP4070460A4 (fr) Procédé et appareil de vidéocodage
EP4238698A4 (fr) Appareil de polissage et procédé de polissage
EP4080199A4 (fr) Appareil d'inspection et procédé d'inspection
EP4242290A4 (fr) Appareil de culture et procédé de culture
EP4042694A4 (fr) Procédé et appareil de vidéocodage

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20220816

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

A4 Supplementary search report drawn up and despatched

Effective date: 20230105

RIC1 Information provided on ipc code assigned before grant

Ipc: G08G 1/16 20060101ALI20221223BHEP

Ipc: G08G 1/01 20060101ALI20221223BHEP

Ipc: G01C 21/34 20060101AFI20221223BHEP

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: SHENZHEN YINWANG INTELLIGENTTECHNOLOGIES CO., LTD.

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

RIC1 Information provided on ipc code assigned before grant

Ipc: G05D 1/00 20060101ALI20250602BHEP

Ipc: B60W 30/095 20120101ALI20250602BHEP

Ipc: G08G 1/16 20060101ALI20250602BHEP

Ipc: G08G 1/01 20060101ALI20250602BHEP

Ipc: G01C 21/34 20060101AFI20250602BHEP

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20250709

GRAJ Information related to disapproval of communication of intention to grant by the applicant or resumption of examination proceedings by the epo deleted

Free format text: ORIGINAL CODE: EPIDOSDIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTC Intention to grant announced (deleted)
INTG Intention to grant announced

Effective date: 20251120

P01 Opt-out of the competence of the unified patent court (upc) registered

Free format text: CASE NUMBER: UPC_APP_0015227_4092386/2025

Effective date: 20251201

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: CH

Ref legal event code: F10

Free format text: ST27 STATUS EVENT CODE: U-0-0-F10-F00 (AS PROVIDED BY THE NATIONAL OFFICE)

Effective date: 20260429